非正交多轴机电伺服系统空间轮廓误差形成机理及控制策略

With the extensive application of multi-axis electromechanical servo motion control systems, to achieve high-speed and high-precision motion control of multi-axis electromechanical equipments has become one of the great challenges for advanced manufacturing equipment industry. The research objective of this project is the multi-axis electromechanical servo motion system, aiming at overcoming the technical difficulties, namely, reducing spatial contour error combined with tracking error of single axis and synchronization error of multi-axis. Specifically, (1) Build a closed-loop motion control system model for each single-axis with strong robustness and enough bandwidth, each axis being treated as a control unit. Explore the impact of modeling error and non-modeling error on tracking error, respectively; (2) Introduce the idea of cross-coupled control (CCC) into the control strategy of coordinated synchronized motion for the non-orthogonal multi-axis electromechanical servo motion control systems. Explore the formation mechanism of the contour error in a non-Cartesian Coordinate, which relies on the tracking error of single axis and the synchronization error of multi-axis. Then construct a mathematical contour error model and develop a real-time estimation strategy. (3) Conduct research on the direct feedback control theory of contour error and establish a coordinated synchronized motion control model, followed by the presentation of a non-Cartesian CCC Algorithm. (4) Analyze the robustness of the new Algorithm and verify its effectiveness by experiments.

随着多轴机电伺服运动系统的广泛应用，如何实现对多轴机电装备的高速高精运动控制是高端装备制造业所面临的重要挑战之一。本项目以多轴机电伺服运动系统为研究对象，旨在突破减小多轴机电伺服系统运动过程中由单轴跟踪误差和多轴协调同步误差综合引起的空间轮廓误差这一难题。具体为(1)以轴为基本控制单元，构建具有强鲁棒性和足够带宽的单轴闭环运动控制系统；探索单轴闭环系统模型误差、非建模误差对跟踪误差的影响。(2)将交叉耦合控制(CCC)思想引入非正交多轴机电伺服系统的协调同步运动控制策略中，探究非笛卡尔坐标系下单轴跟踪误差和同步误差对轮廓误差形成机理，建立轮廓误差数学模型及实时估计策略；(3) 进行轮廓误差直接反馈控制理论研究，建立协调同步运动的控制模型，形成"非笛卡尔坐标空间CCC控制算法"。(4)基于Lypaunov稳定性理论对"非笛卡尔坐标空间CCC控制算法"进行鲁棒性分析并通过实验验证其有效性。

多轴机电装备的高速高精运动控制是高端装备制造业所面临的重要挑战之一，本课题以多轴机电伺服运动系统为研究对象，针对多轴机电伺服系统运动过程中由单轴跟踪误差和多轴协调同步误差综合引起的空间轮廓误差问题，研究了相关理论、方法和技术。研究单轴跟踪误差和多轴运动同步误差对直线、圆弧实际轮廓误差的影响，提出平面轮廓和空间轮廓的轮廓误差模型建模及误差估计方法；基于模块化和层次化设计理念，提出了可重构的开放式运动控制系统架构设计思想，并设计了一套多轴协同运动控制系统，用于实施高精高速运动控制算法；基于交叉耦合控制思想，研究了双轴协同运动控制策略和三轴协同运动控制策略，提出自适应交叉耦合控制策略，提高了动梁式龙门结构的多轴协同运动精度；研究电机动力学建模方法，建立了其动力学模型，并进行了数值模拟和定量分析；设计了PMSM电机驱动器用于验证单轴伺服系统理论模型对非线性因素和外界扰动的抗干扰性；研究单轴精密零跟踪误差运动控制模型，构建了具有强鲁棒性和足够带宽的单轴闭环运动控制系统模型。该项研究对于非正交多轴机电伺服系统的性能提高具有重要作用。